Method for determining the angular position of the rotor in a rotating electric machine

ABSTRACT

A method is suggested for determining the angular position of the rotor in a rotating electric machine, which machine has a stator winding set with at least three stator windings, and the stator winding set is powered by a converter device. Firstly, a first voltage (U 1 ) is applied to the stator winding set via the converter device within a first definable time period (t x1 ), and a first current gradient  
       (         ⅆ   i       ⅆ   t       ⁢     |     U   ⁢           ⁢   1         )       
 
is calculated therefor, and a second voltage (U 2 ) is applied to the stator winding set via the converter device within the first definable time period (t x1 ), and a second current gradient  
       (         ⅆ   i       ⅆ   t       ⁢     |     U   ⁢           ⁢   2         )       
 
is calculated therefor. A third voltage (U 3 ) is then applied to the stator winding set via the converter device within a second definable time period (t x2 ), and a third current gradient  
       (         ⅆ   i       ⅆ   t       ⁢     |     U   ⁢           ⁢   3         )       
 
is calculated therefor, and a fourth voltage (U 4 ) is applied to the stator winding set via the converter device within the second definable time period (t x2 ), and a fourth current gradient  
       (         ⅆ   i       ⅆ   t       ⁢     |     U   ⁢           ⁢   4         )       
 
is calculated therefor. A partial rotor position (γ) is calculated from the first, second, third and fourth current gradients  
         (           ⅆ   i       ⅆ   t       ⁢     |     U   ⁢           ⁢   1         ,         ⅆ   i       ⅆ   t       ⁢     |     U   ⁢           ⁢   2         ,         ⅆ   i       ⅆ   t       ⁢     |   3       ,         ⅆ   i       ⅆ   t       ⁢     |     U   ⁢           ⁢   4           )     .       
 
The stator voltage (U S ) at the stator winding set and the stator current (I S ) at the stator winding set are also determined continuously and a first stator flux signal (ψ 1 ) is calculated from the stator voltage (U S ) and the stator current (I S ), and a second stator flux signal (ψ 2 ) is calculated from the stator current (I S ) and a magnetisation flux (ψ M ) of the stator winding set. Moreover, the cosine angle function of the first stator flux signal (ψ 1 ) and of the second stator flux signal (ψ 2 ) is derived, wherein 
 
the difference is derived from the cosine angle function of the first stator flux signal (ψ 1 ) and the cosine angle function of the second stator flux signal (ψ 2 ). If the difference lies outside an adjustable tolerance range, a correction phase angle (ψ K ) is added to the partial rotor position angle (γ).

TECHNICAL AREA

The invention relates to the field of the methods of operating rotating electric machines. It is based on a method for determining the angular position of the rotor or the magnetic flux angle in a rotating electric machine as described in the preamble of the independent claim.

RELATED ART

Rotating electric machines such as are in common use today include a stator winding set with at least three stator windings, and the stator winding set is typically powered by a slaved converter device. In modern rotating electric machines, the angular position of the rotor is determined for the most part by a rotary position transducer, which returns the desired angular rotor position, i.e. the angular position or the magnetic flux angle of the rotor while it is turning. It is essential to know the position the rotor or the position of the magnetic flux vector because this is typically one of several input variables that are used to control the rotating machine. However, rotary position transducers are highly susceptible to mechanical overload, and consequently they fail frequently or return incorrect values for the angular rotor position.

They also have to be installed, because the rotary position transducer itself as well as its cabling must be attached to the machine, which involves considerable effort and costs. A rotary position transducer of such kind must also be maintained constantly, which entails more work and expense.

BRIEF DESCRIPTION OF THE INVENTION

The object of the invention is therefore to suggest a method for determining the angular position of a rotor in a rotating electric machine that is sturdy and easily constructed, and does not require a rotary position transducer. This object is solved by the features of claim 1. Advantageous refinements of the invention are described in the dependent claims.

In the method according to the invention for determining the angular position of a rotor in an electric machine, the machine has a stator winding set with at least three stator windings, the stator winding set being powered by a slaved converter device. According to the invention, a first voltage is then applied to the stator winding set via the converter device within a first definable time period and a first current gradient is calculated therefor, a second voltage is applied to the stator winding set via the converter device within the first definable time period and a second current gradient is calculated for this. The first and second voltages are applied within the first definable time period, particularly consecutively in temporal terms. A third voltage is also applied to the stator winding set via the converter device within a second definable time period, and a third current gradient is calculated therefor, and a fourth voltage is applied to the stator winding set via the converter device within the second definable time period, and a fourth current gradient is calculated therefor. The third and fourth voltages are applied within the second definable time period, particularly consecutively in temporal terms. A partial rotor position angle is then calculated from the first, second, third and fourth current gradients. The stator voltage at the stator winding set and the stator current at the stator winding set are also determined continuously, and a first stator flux signal is calculated from the stator voltage and the stator current, and a second stator flux signal is calculated from the stator current and a magnetisation flux of the stator winding set. The cosine angle function of both the first and the second stator flux signals, and also the difference between these signals is constructed from the cosine angle function of the first stator flux signal and the cosine angle function of the second stator flux signal. If the difference is outside of an adjustable tolerance range, a correction phase angle is added to the partial rotor position angle. On the other hand, if the difference lies with the tolerance range, a correction phase angle is not added and the desired angular position of the rotor is then the partial rotor position angle. In this way, it is advantageously possible to determine the angular position of a rotor in a rotating electric machine according to the method of the invention without the use of a rotary position transducer and the disadvantages associated therewith, with the overall effect of providing a robust and very easily implemented method for determining the angular position of a rotor in a rotating electric machine.

These and other tasks, advantages and features of the present invention will be made clear in the following detailed description of preferred embodiments of the invention in conjunction with the drawing.

BRIEF DESCRIPTION OF THE DRAWING

In the drawing:

FIG. 1 shows the temporal curves of the cosine angle function of a first and a second stator flux signal of the rotating electric machine, and a temporal curve of a partial rotor position angle in the method according to the invention.

In the FIGURE, identical parts are identified by the same reference numbers in all cases.

WAYS TO IMPLEMENT THE INVENTION

In the method according to the invention for determining the angular position of a rotor in a rotating electric machine, the machine has a stator winding set including at least three stator windings, and the stator winding set is powered by a converter device.

First, a first voltage U₁ is applied to the stator winding set by the converter device within a first, definable time period t_(x1) and a first current gradient $\left. \frac{\mathbb{d}i}{\mathbb{d}t} \right|_{U\quad 1}$ is calculated therefor. First voltage U₁ is a voltage vector having a predefined angle α. A second voltage U₂ is also applied to the stator winding set via the converter device within first definable time period t_(x1), and a second current gradient $\left( \left. \frac{\mathbb{d}i}{\mathbb{d}t} \right|_{U\quad 2} \right)$ is calculated for this voltage. Second voltage U₂ is a voltage vector having a predefined angle −α. First and second voltages U₁, U₂ are applied within the first definable time period, particularly one after the other. A third voltage U₃ is also applied to the stator winding set via the converter device within a second definable time period t_(x2) and a third current gradient $\left. \frac{\mathbb{d}i}{\mathbb{d}t} \right|_{U\quad 3}$ is calculated therefor. Third voltage U₃ is a voltage vector having a predefined angle β. A fourth voltage U₄ is also applied to the stator winding set via the converter device within second definable time period t_(x2) and a fourth current gradient $\left. \frac{\mathbb{d}i}{\mathbb{d}t} \right|_{U\quad 4}$ is calculated therefor. Fourth voltage U₄ is a voltage vector having a predefined angle −β. Each of current gradients $\left. \frac{\mathbb{d}i}{\mathbb{d}t} \right|_{U\quad 1},\left. \frac{\mathbb{d}i}{\mathbb{d}t} \right|_{U\quad 2},\left. \frac{\mathbb{d}i}{\mathbb{d}t} \right|_{3},\left. \frac{\mathbb{d}i}{\mathbb{d}t} \right|_{U\quad 4}$ is preferably calculated by appropriate measurement. First definable time period t_(x1) is preferably of the same duration as second definable time period t_(x2). First definable time period t_(x1) and definable time period t_(x2) are also advantageously selected on the basis of the machine inductances, such as for example stray stator inductance L_(Sσ).

A partial rotor position angle γ is then calculated from the first, second, third and fourth current gradients $\left. \frac{\mathbb{d}i}{\mathbb{d}t} \right|_{U\quad 1},\left. \frac{\mathbb{d}i}{\mathbb{d}t} \right|_{U\quad 2},\left. \frac{\mathbb{d}i}{\mathbb{d}t} \right|_{3},\left. \frac{\mathbb{d}i}{\mathbb{d}t} \middle| {}_{U\quad 4}. \right.$ Partial rotor position angle γ is preferably calculated using the following formula $\gamma = {{\arctan\left( \frac{\begin{matrix} {{{Re}\left( {{\mathbb{e}}^{- {j\alpha}} \cdot \left( {\left. \frac{\mathbb{d}i}{\mathbb{d}t} \right|_{\quad{U\quad 1}} - \left. \frac{\mathbb{d}i}{\mathbb{d}t} \right|_{\quad{U\quad 2}}} \right)} \right)} -} \\ {{Re}\left( {{\mathbb{e}}^{- {j\beta}} \cdot \left( {\left. \frac{\mathbb{d}i}{\mathbb{d}t} \right|_{\quad{U\quad 3}} - \left. \frac{\mathbb{d}i}{\mathbb{d}t} \right|_{\quad{U\quad 4}}} \right)} \right)} \end{matrix}}{\begin{matrix} {{{Im}\left( {{\mathbb{e}}^{- {j\alpha}} \cdot \left( {\left. \frac{\mathbb{d}i}{\mathbb{d}t} \right|_{\quad{U\quad 1}} - \left. \frac{\mathbb{d}i}{\mathbb{d}t} \right|_{\quad{U\quad 2}}} \right)} \right)} -} \\ {{Im}\left( {{\mathbb{e}}^{- {j\beta}} \cdot \left( {\left. \frac{\mathbb{d}i}{\mathbb{d}t} \right|_{\quad{U\quad 3}} - \left. \frac{\mathbb{d}i}{\mathbb{d}t} \right|_{\quad{U\quad 4}}} \right)} \right)} \end{matrix}} \right)} \cdot \left( {- 0.5} \right)}$

A temporal curve of the partial rotor position angle γ therefor is shown in FIG. 1. The other temporal curves in FIG. 1 will be explained in greater detail in the following. According to the curve of partial rotor position angle γ as shown in FIG. 1, partial rotor position angle γ only indicates an angular position between 0 and π, that is to say only in the first and second quadrants of a four-quadrant representation. At the same time, all angular positions between 0 and 2π, that is to say all four quadrants in the four-quadrant representation, are possible. In order to ensure that it is possible to determine all angular positions, stator voltage U_(S) at the stator winding set and stator current I_(S) at the stator winding set are first determined continuously, and a first stator flux signal ψ₁ is calculated from stator voltage U_(S) and stator current I_(S), and a second stator flux signal ψ₂ is calculated from stator current I_(S) and a magnetisation flux ψ_(M) of the stator winding set. First stator flux signal ψ₁ is calculated using the following formula ψ₁ =∫( U_(S) − R _(S) ·I_(S) ) dt=ψ _(1x) +jψ _(1y), wherein R_(S) is the ohmic stator winding resistance, which is typically known from the machine data, and first stator flux signal ψ₁ is a complex variable ψ₁ consisting of its associated x-coordinate ψ_(1x) and its associated y-coordinate ψ_(1y) in an xy-stator reference system. Particularly the first stator flux signal ψ₁ is also calculated from stator resistance R_(S) using the formula shown earlier.

The following deals in detail with the calculation of second stator flux signal ψ₂. Since second stator flux signal ψ₂ is calculated on the basis of parks in the rotor reference system, first the measured stator current I_(S) must be transferred to the rotor reference system: I _(sd) =I _(sx)·cos(γ)+I _(sy)·sin(γ) I _(sq) =I _(sy)·cos(γ)−I _(sx)·sin(γ)

Second stator flux signal ψ₂ may be written as a park transformation in the following way: ψ_(2d)=ψ_(md) +i _(sd) ·L _(sσ) ψ_(2q)=ψ_(mq) +i _(sq) ·L _(sσ)

Second stator flux signal ψ₂ in the xy-stator reference system may then be written as follows: ψ_(2x)=ψ_(2d)·cos(γ)+ψ_(2q)·sin(γ) ψ_(2y)=ψ_(2q)·cos(γ)+ψ_(2d)·sin(γ) wherein ψ₂ =ψ_(2x) +jψ _(2y) and ψ_(md) is the d component of the park transformation of the stator magnetisation flux of the stator winding set, which is provided in advance as a known or supplied variable, ψ_(mq) is the q component of the park transformation of the stator magnetisation flux, I_(Sd) is the d component of the park transformation of stator current I_(S), I_(Sq) is the q component of the park transformation of stator current I_(S), and L_(Sσ) is the stray stator inductance, which is known from the machine data. The second stator flux signal ψ₂ is also represented in the formula shown earlier as complex variable ψ₂ with its associated x coordinate ψ_(2x) and its associated y coordinate ψ_(2y) in the xy stator reference system. It should be noted that the Park transformation described previously is sufficiently known to one skilled in the art. In particular, the second stator flux signal ψ₂ is also calculated from the stray stator inductance L_(Sσ) using the formula shown previously.

According to the invention, the cosine angle function of the first stator flux signal ψ₁ and the second stator flux signal ψ₂ is formed, at which point reference is made to FIG. 1, in which the temporal curve of the cosine angle function of the first and second stator flux signals ψ₁, ψ₂ of the rotating electric machine is shown as well as the temporal curve of the partial rotor position angle γ described previously. Since according to the formula shown previously second stator flux signal ψ₂ is dependent on partial rotor position angle γ and, as was explained earlier, partial rotor position angle γ indicates an angular position between 0 and π, a corresponding temporal curve of the cosine angle function of second stator flux signal ψ₂ is yielded. According to the invention, the difference is constructed from the cosine angle function of first stator flux signal ψ₁ and the cosine angle function of second stator flux signal ψ₂, and a correction phase angle ψ_(K) is added to partial rotor position angle γ.

If the difference between the cosine angle functions of the two stator flux signals ψ₁ and ψ₂ is within the tolerance range, it is assumed that partial rotor position angle γ matches the desired angular position of the rotor. However, if the constructed difference between the cosine angle functions of the two stator flux signals ψ₁ and ψ₂ lies outside the adjustable tolerance range, it is assumed that partial rotor position angle γ has jumped from 0 to π or from π to 0, and correction phase angle ψ_(K) is added accordingly. Correction phase angle ψ_(K) is preferably π. The result of this addition is then the desired angular position of the rotor. The angular position of the rotor may thus be determined advantageously without a rotary position transducer and the drawbacks associated therewith, with the overall effect of providing a robust and very easily implemented method for determining the angular position of a rotor in a rotating electric machine. 

1. Method for determining the angular position of a rotor in a rotating electric machine, which machine has a stator winding set with at least three stator windings, in which the stator winding set is powered by a converter device, wherein a first voltage (U₁) is applied to the stator winding set via the converter device within a first definable time period (t_(x1)), and a first current gradient $\left( \left. \frac{\mathbb{d}i}{\mathbb{d}t} \right|_{U\quad 1} \right)$  is calculated therefor, and a second voltage (U₂) is applied to the stator winding set via the converter device within the first definable time period (t_(x1)), and a second current gradient $\left( \left. \frac{\mathbb{d}i}{\mathbb{d}t} \right|_{U\quad 2} \right)$  is calculated therefor, a third voltage (U₃) is applied to the stator winding set via the converter device within a second definable time period (t_(x2)), and a third current gradient $\left( \left. \frac{\mathbb{d}i}{\mathbb{d}t} \right|_{U\quad 3} \right)$  is calculated therefor, and a fourth voltage (U₄) is applied to the stator winding set via the converter device within the second definable time period (t_(x2)), and a fourth current gradient $\left( \left. \frac{\mathbb{d}i}{\mathbb{d}t} \right|_{U\quad 4} \right)$  is calculated therefor, a partial rotor position (γ) is calculated from the first, second, third and fourth current gradients $\left( {\left. \frac{\mathbb{d}i}{\mathbb{d}t} \right|_{U\quad 1},\left. \frac{\mathbb{d}i}{\mathbb{d}t} \right|_{U\quad 2},\left. \frac{\mathbb{d}i}{\mathbb{d}t} \right|_{3},\left. \frac{\mathbb{d}i}{\mathbb{d}t} \right|_{U\quad 4}} \right),$ the stator voltage (U_(S)) at the stator winding set and the stator current (I_(S)) at the stator winding set are determined continuously, and a first stator flux signal (ψ₁) is calculated from the stator voltage (U_(S)) and the stator current (I_(S)), and a second stator flux signal (ψ₂) is calculated from the stator current (I_(S)) and a magnetisation flux (ψ_(M)) of the stator winding set, the cosine angle function of the first stator flux signal (ψ₁) and of the second stator flux signal (ψ₂) is derived, the difference is derived from the cosine angle function of the first stator flux signal (ψ₁) and the cosine angle function of the second stator flux signal (ψ₂), and a correction phase angle (ψ_(K)) is added to the partial rotor position angle (γ) if the difference lies outside an adjustable tolerance range.
 2. The method as recited in claim 1, wherein the correction phase angle (ψ_(K)) is π.
 3. The method as recited in claim 1, wherein the first definable time period (t_(x1)) is of the same duration as the second definable time period (t_(x2)).
 4. The method as recited in claim 1, wherein the first definable time period (t_(x1)) and the second definable time period (t_(x2)) is selected depending on the machine inductances.
 5. The method as recited in claim 1, wherein the first stator flux signal (ψ₁) is also calculated from a stator resistance (R_(S)).
 6. The method as recited in any of claim 1, wherein the second stator flux signal (ψ₂) is also calculated from a stray stator inductance (L_(Sσ)). 